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3D-KINEMATICS OF BIOLOGICAL JOINTS

Swandito and Fuss F. K.


School of Mechanical and Production Engineering
Nanyang Technological University
50 Nanyang Avenue, Singapore 639798

INTRODUCTION
The motion of joints is described by means of a combined translational and rotational movement with
respect to a fixed coordinate system1. A rotation centre is defined as the point, which instantaneously
immobile with respect to both the moved and fixed system. By using helical axes this will be well
described. Helical axes reveal the hidden kinematics of a motion system like a “radiograph”. Helical axes
combined with the morphology (fixed motion system) provide an excellent tool for experimental and
clinical assessment and documentation of the joint kinematics. In this project the carpometacarpal joint of
the thumb was analyzed by using the helical axes method. The aim of this project are to give better
understanding about the kinematics of the biological joint especially the thumb joint, and to analyze the
kinematics of the thumb joint. In the advance we are able to make a replacement of the joints.

MATERIALS AND METHOD


The left hands of the 2 test-persons were examined. The fixation device of the hand was made of the
compressed wood (figure 6). The wood was chosen because it will not affect the magnetic field of the 3D-
digitizer (Polhemus, Isotrak M100) used. This fixation was used to eliminate the side-movements of the
hand during the experiment, and also to support the movement of the thumb in order to get the correct
data for analysis. A computer-axiometry system2,3 (digitizer, Apple-computer IIci, software) was used to
analyze the kinematics (position and direction of the finite helical axes, helical translation and rotation,
and helical axes surfaces) of the carpometacarpal joint of the thumb (the joint between the trapezium and
the 1st metacarpal bone, figures 3, 4 and 5). The thumb of the left hand was moved from the abduction to
the adduction position and then from reposition to the opposition position (figures 7 and 8) while holding
onto the fixation device. The complete movement was captured by the software (Tarsósß 2.0, Apple
version)2,3. This special software package collects the data and calculates as well as visualizes the helical
axes parameters. The immobile system was the hand and the mobile one is the thumb. Four different data
sets were taken for each left hand for each movement.

ANALYSIS
Any body undergoing a 3D-motion, is rotated about an axis and simultaneously translated along the axis.
Helical axes parameters are position and direction of the finite helical axis, helical rotation, helical
translation (thread) and the migration of the helical axis (helical axis surface). It also gives us the
combined information of the changes in position and direction with helical angle. The helical axis surface
can be combined with the fixed system in order to figure their correct position to each other.

The co-ordinate system used for the abduction-adduction analysis was: x pointing dorsally, y pointing
radially and z pointing distally. The ab/adduction occurred about x-axis, the retro/anteversion occurred
about y-axis and the re/opposition occurred about z-axis. For the reposition and opposition analysis the
co-ordinate system used was: x pointing distally, y pointing radially and z pointing palmarly. The
ab/adduction occurred about z-axis, the retro/anteversion occurred about y-axis and the re/opposition
occurred about x-axis. The reference triangle ABC was parallel to the xy plane. After having printed the
helical axes in the xy and xz planes, generated by the software (Tarsósß 2.0), the angle (“axis angle”)
between the finite helical axes (of the different stages of the movement) and the reference coordinate
system was measured. For both analyses the formulas below were used:
Angle of helical axis with x-axis in xy-plane: ε (epsilon)
Angle of helical axis with x-axis in xz-plane: η (eta)
ωx = (1+tan(ε)²+tan(η)²) –0.5
ωy = ωx * tan(ε)
ωz = ωx * tan(η)
(ωx ²+ ωy ²+ ωz ²)0.5 = 1 (ωres = 1, constant ω)

With: ωx = angular velocity vector in x-axis


ωy = angular velocity vector in y-axis
ωz = angular velocity vector in z-axis

1
m m m
Tx = ∫ ϖ x dθ ; T y = ∫ ϖ y dθ ; Tz = ∫ ϖ z dθ
0 0 0
With: Tx = angular displacement about x-axis
Ty = angular displacement about y-axis
Tz = angular displacement about z-axis
m= the maximum mean helical angle made by the thumb

Each set of analysis will have ten axes. It means that for each set of experiment the analysis step is one
tenth of the max rotation angle of the corresponding movement. After measuring the angle between the
finite axis, using the formula above, the unit angular velocity vector of each direction were calculated.
The outcome from the calculation was used to find the polynomial regression of the data using Grapher
3.0. The integration of the polynomial function served to calculate the angular displacement of the helical
motion.

The helical axis surface was reconstructed in AutoCAD2000, using the ACAD-script file provided by the
software Tarsósß 2.0 (figures 9 and 10).

RESULTS AND DISCUSSION


30 80
adduction opposition
X X
abduction 70
reposition
25
60
single rotation about main axis (°)

50
20
single rotation about main axes (°)

40

15
30

20
10
opposition
10
Z
reposition
5 abduction
0
Z
adduction
retroversion
-10
Y
0 retroversion
anteversion
-20 Y
anteversion
-5 -30

0 5 10 15 20 25 30 0 10 20 30 40 50 60 70 80
ABDUCTION helical rotation (°) ADDUCTION REPOSITION helical rotation (°) OPPOSITION

Figure 1: Single rotation about main axis Figure 2: Single rotation about main axis
of ab/adduction movement (adduction, of re/opposition movement (abduction,
opposition, and retroversion have a opposition, and retroversion have a
positive slope) positive slope)

The graphs were plotted from the data that had been calculated earlier. Figure 1 shows the ab/adduction
motion. It can be seen that the adduction motion is combined with the opposition and retroversion motion,
while the abduction motion is combined with the reposition and anteversion. Figure 2 displays the
re/opposition motion. The opposition is combined with the adduction and the anteversion motion, while
the reposition is combined with the abduction and retroversion.

The position of the helical axis has to be seen with respect to the joint surface (figures 9 and 10). The
direction of the helical axis indicates any automatic rotation of the joint. In this thumb joint for the
example in the re/opposition movement the x axis represent the re/opposition motion. Any deviation from
the horizontal direction is due to a hidden rotation (automatic or compulsory rotation) about a vertical or
sagittal axis. The angle of the tilting will give us the information of the direction of the automatic rotation
and of its relative as well as absolute amount (figures 1, 2, 11a, 11b, 11c). As can be seen from these
figures the contribution of the main motion is much greater than the one of the simultaneous automatic
motions.

The trapezium bone is characterized by the tubercle and groove which mark its rough, palmar surface4. It
has large, gently concave of the medial surface. The movement of the ab/adduction occur in the plane of
axis of the ridge (the place in which fits the concavity of the 1st metacarpal base). The trapezial ridge is
shorter than the corresponding metacarpal groove. Its surfaces are not completely congruent. Given the

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specification above the trapezium significantly contributes to the mobility of the pollex. The metacarpal
bones are miniature of the long bones, each possessing a rounded head, long shaft and an expanded base.
The first metacarpal bone is shorter and stouter than the others. It lies on a more anterior plane and rotated
medially round its long axis through the angle of 90º. By virtue of this position the thumb moves medially
in front of the palm when it is flexed and it can be rotated into opposition with each of the fingers in turn.
It is the most important factor in rendering the hand an efficient instrument for prehension. Such as
grasping an object in the hand, the fingers encircle it on one side and the thumb from the other side, and
the power of the grip increased very greatly thereby. From the results obtained, the range of re/opposition
motion of the thumb is about 80°.

Noise reduction by the software and careful repeatability check are extremely important factors in order
to reduce the error caused by the susceptibly of the helical axis to the measurement errors. The
disadvantage of using helical axis that can also effects the results is because helical rotation is performed
about the instantaneous helical axis. As vertebrate joint systems never are pure hinge joints, the axis
migrates and tilts. Hence the total helical motion range doesn’t refer to a single, fixed axis. However,
using the formula in the analysis section of this report, the absolute parts of the total helical motion about
single axis can be calculated.

CONCLUSION
1. Helical axes reveal the hidden kinematics of a motion system and are the base of an exact motion
analysis according to the presented interpretation guide. Helical axes combined with the morphology
(fixed motion system) provide an excellent tool for experimental and clinical assessment and
documentation of joints kinematics.
2. Helical axes help to determine the range and kinematics motion of the joint, so as to get the joint
replacement.
3. The range of motion of the metacarpal joint of the thumb is ≈ 80º for re/opposition and ≈ 30º for
ab/adduction.

ACKNOWLEDGEMENTS
We would like to thank the technician from the mechanic of machines lab in which we borrowed the
digital camera, the technician of the CNC lab and workshop in which we obtained the material for the
fixation device, and also the technician of the fluids and mechanics lab for providing the super glue.

REFERENCES
1. Nigg BM & Herzog W (1999). Biomechanics of the Musculo-Skeletal System. 2nd ed. Wiley,
Chichester.
2. Fuss F K (1998). Insufficiency of the Tibialis Posterior Muscle. ISBS Proceedings II, XVI
International Symposium on Biomechanics in Sports, Germany, pp 23-25
3. Fuss F K (2001). Helical Axes – Kinematic Analysis, Interpretation and Application. IFMBE
Proceedings, MEDICON 2001, Croatia, pp 620-623
4. Williams PL (1995). Gray’s Anatomy: The Anatomical Basis of Medicine and Surgery. 38th edition.
Churchill Livingstone, New York, pp 370-375

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APPENDIX

Figure 3: Carpal and metacarpal bones Figure 4. The Os trapezium Figure 5: The first meta-
of the left hand. Palmar aspect carpal bone

Figure 6: Fixation device Figure 7: Reposition Figure 8: Opposition

Figure 9: Combined picture of hand with the Figure 10: Combined picture of hand with the
helical axes of motion from palmar view helical axes of motion from isometric view

1 -0.1 -0.08
angular velocity / z-component of unit vector
angular velocity / y-component of unit vector
angular velocity / x-component of unit vector

0.96 -0.2 -0.12

0.92 -0.3 -0.16

0.88 -0.4 -0.2

0.84 -0.5 -0.24

0.8 -0.6 -0.28

0 20 40 60 80 0 20 40 60 80 0 20 40 60 80
helical rotation (°) / range of motion helical rotation (°) / range of motion helical rotation (°) / range of motion

(a) (b) (c)


Figure 11: Angular velocity with respect to the helical motion of opposition/reposition motion, and
polynomial regression (a: in the x-component of unit vector, b: in the y-component of unit vector, c: in
the z-component of unit vector

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